Method and device for automatically generating agent behavior tree program based on formal verification

The invention discloses an intelligent agent behavior tree program automatic generation method and device based on formalized verification, and the method comprises the steps: inputting an initial intelligent agent behavior tree, searching a target intelligent agent behavior tree, evaluating each candidate intelligent agent behavior tree in the searching process, and generating an intelligent agent behavior tree program; updating the information of the explored agent behavior tree according to an evaluation result, and feeding back and reselecting a candidate agent behavior tree; and performing formalized modeling on the candidate agent behavior trees based on the CSP to obtain a CSP model, performing formalized verification on the CSP model by using a verifier, and calculating a feedback evaluation value according to a verification result to evaluate each candidate agent behavior tree so as to guide a search process until a target agent behavior tree is found. According to the method, modeling and formalized